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Sun, 17 Aug 2003 11:20:54 +0200Sun, 17 Aug 2003 11:20:54 +0200Computer- und Roboter-Assistierte Chirurgie zum Kraft-Rückgekoppelten Fräsen eines knöchernen Implantatlagers an der Lateralen Schädelbasishttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1420
Es handelt sich um den Aufbau des ersten Roboter-gestützten Systems zum Fräsen an der lateralen Schädelbasis. Durch Rückkopplung der Sensordaten lässt sich ein menschähnliches Fräsen nachahmen. Mehr noch: Es besteht die Möglichkeit der automatisierten Detektion der Dura mater durch Analyse der Standardabweichung der Kräfte, da die Dura mater dämpfend auf den Fräser wirkt. Mit dem Roboter ist es möglich, ein exaktes Implantatbett im Bereich der lateralen Schädelbasis auszufräsen.Ph. A. Federspil; Dominik Henrich; Beate Plinkert; P. K. Plinkertbookparthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1420Sun, 17 Aug 2003 11:20:54 +0200A Hybrid Force Following Controller For Multi-Scale Motionshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1416
In many robotic applications, the teaching of points in space is necessary to register the robot coordinate system with the one of the application. Robot-human interaction is awkward and dangerous for the human because of the possibly large size and power of the robot, so robot movements must be predictable and natural. We present a novel hybrid control algorithm which provides the needed precision in small scale movements while allowing for fast and intuitive large scale translations.Philipp Stolka; Dominik Henricharticlehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1416Thu, 24 Jul 2003 10:42:45 +0200Manipulating Deformable Linear Objects: Characteristic Features for Vision-Based Detection of Contact State Transitionshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1415
This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires, or leaf springs. It investigates usable features for the vision-based detection of a changing contact situation between a DLO and a rigid polyhedral obstacle and a classification of such contact state transitions. The result is a complete classification of contact state transitions and of the most significant features for each class. This knowledge enables reliable detection of changes in the DLO contact situation, facilitating implementation of sensor-based manipulation skills for all possible contact changes.Jürgen Acker; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1415Mon, 21 Jul 2003 14:02:43 +0200SIMERO: Sichere Mensch-Roboter-Koexistenzhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1409
Den in der industriellen Produktion eingesetzten Manipulatoren fehlt in der Regel die Möglichkeit, ihre Umwelt wahrzunehmen. Damit Mensch und Roboter in einem gemeinsamen Arbeitsraum arbeiten können, wird im SIMERO-System die Transferbewegung des Roboters durch Kameras abgesichert. Dieses Kamerasystem wird auf Ausfall überprüft. Dabei werden Fehler in der Bildübertragung und Positionierungsfehler der Kameras betrachtet.Dirk Ebert; Dominik Henricharticlehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1409Fri, 04 Jul 2003 08:46:08 +0200Development of the First Force-Controlled Robot for Otoneurosurgeryhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1389
Objective: In some surgical specialties, e.g. orthopedics, robots are already used in the operating room for bony milling work. Oto- and otoneurosurgery may also greatly benefit by robotic enhanced precision. Study Design: Experimental study on robotic milling on oak wood and human temporal bone specimen. Methods: A standard industrial robot with a 6 degrees-of-freedom serial kinematics was used with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on CAD geometry data of a cochlear implant and an implantable hearing system. Results: The best suited strategy proofed to be the spiral horizontal milling mode with the burr held perpendicularly to the temporal bone surface. In order to avoid high grooves, the distance in between paths should equal half the radius of the cutting burr head. Due to the vibration of the robot’s own motors, a rather high oscillation of the standard deviation of forces was encountered. This oscillation dropped drastically to nearly 0 N, when the burr head reached contact with the dura mater due to its damping characteristics. The cutting burr could be moved a long time on the dura without damaging it, because of its rather blunt head. The robot moved the burr very smoothly according to the encountered resistances. Conclusion: This is the first development of an functioning robotic milling procedure for otoneurosurgery with force-based speed control. It is planned to implement ultrasound-based local navigation and to perform robotic mastoidectomy.Philipp A. Federspil; Urban W. Geisthoff; Dominik Henrich; Peter K. Plinkertreporthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1389Mon, 07 Apr 2003 09:46:39 +0200Manipulating Deformable Linear Objects: Programming using Different Manipulation Skillshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1380
This paper describes motion primitives which solve some common recurrent problems encountered when manipulating deformable linear objects. As one example for the usefulness of these manipulations skills, the mounting of a leaf spring is presented here.Antoine Schlechter; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1380Thu, 13 Mar 2003 11:45:02 +0100Robotergestütztes Fräsen an der lateralen Schädelbasis: Kraft-basierte lokale Navigation bei der Implantatbettanlagehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1360
Die Domäne der Operationsroboter liegt heute in Fräsarbeiten an knöchernen Strukturen. Da Roboter über eine extreme Präzision verfügen und nicht ermüden bietet sich ihr Einsatz ins-besondere bei langwierigen und zugleich hochpräzisen Fräsvorgängen im Bereich der later-alen Schädelbasis an. Aus diesem Grunde wurde ein Verfahren entwickelt, welches aus einer geometrischen Beschreibung des Implantates eine geeignete Fräsbahn errechnet und eine kraftgeregelte Prozesskontrolle des Fräsvorganges implementiert. Mit einem 6*achsigen Knickarmroboter erfolgten die Untersuchungen primär an Tierpräparaten und zur Optimierung an Felsenbeinpräparaten.Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1360Wed, 04 Dec 2002 11:00:09 +0100Safe Human-Robot-Cooperation: Image-based Collision Detection for Industrial Robotshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1356
This paper analyzes the problem of sensor-based colli-sion detection for an industrial robotic manipulator. A method to perform collision tests based on images taken from several stationary cameras in the work cell is pre-sented. The collision test works entirely based on the im-ages, and does not construct a representation of the Carte-sian space. It is shown how to perform a collision test for all possible robot configurations using only a single set of images taken simultaneously.Dirk Ebert; Dominik Henricharticlehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1356Thu, 31 Oct 2002 09:06:49 +0100Sicherheitsstrategien für die Mensch-Roboter-Kooperation - Das SIMERO-Systemhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1355
Zur Zeit haben Industrieroboter nur eine sehr begrenzte Wahrnehmung ihrer Umwelt. Wenn sich Menschen im Arbeitsraum des Roboters aufhalten sind sie daher gefährdet. Durch eine Einteilung der möglichen Roboterbewegung in verschiedene Klassen kann gezeigt werden, dass die für einen Menschen im Arbeitsraum gefährlichste Bewegung die freie Transferbewegung ist. Daher besteht die betrachtete Aufgabe darin, diese Transferbewegung eines Manipulators durchzuführen, ohne mit dynamischen Hindernissen, wie zum Beispiel Menschen, zu kollidieren. Das SIMERO-System gliedert sich in die vier Hauptkomponenten Bildverarbeitung, Robotermodellierung, Kollisionserkennung und Bahnplanung. Diese Komponenten werden im einzelnen vorgestellt. Die Leistungsfähigkeit des Systems und die weiteren Verbesserungen werden an einem Versuch exemplarisch gezeigt.Dirk Ebert; Dominik Henricharticlehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1355Thu, 31 Oct 2002 09:05:18 +0100Manipulating Deformable Linear Objects: Manipulation Skill for Active Damping of Oscillationshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1333
While handling deformable linear objects (DLOs), such as hoses, wires or leaf springs, with an industrial robot at high speed, unintended and undesired oscillations that delay further operations may occur. This paper analyzes oscillations based on a simple model with one degree of freedom (DOF) and presents a method for active open-loop damping. Different ways to interpret an oscillating DLO as a system with 1 DOF lead to translational and rotational adjustment motions. Both were implemented as a manipulation skill with a sepa-rate program that can be executed immediately after any robot motion. We showed how these manipulation skills can generate the needed adjustment motions automatically based on the readings of a wrist-mounted force/torque sensor. Experiments demonstrated the effectiveness under various conditions.Antoine Schlechter; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1333Mon, 01 Jul 2002 00:00:00 +0200Virtual Robot Programming for Deformable Linear Objects: System concept and Prototype Implementationhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1252
In this paper we present a method and system for robot programming using virtual reality techniques. The proposed method allows intuitive teaching of a manipulation task with haptic feedback in a graphical simulation system. Based on earlier work, our system allows even an operator who lacks specialized knowledge of robotics to automatically generate a robust sensor-based robot program that is ready to execute on different robots, merely by demonstrating the task in virtual reality.Björn Kahl; Dominik Henricharticlehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1252Tue, 07 May 2002 00:00:00 +0200Robotergestütztes Fräsen an der lateralen Schädelbasis: Kraftbasierte lokale Navigation bei der Implantatbettanlagehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1250
Die Domäne der Operationsroboter liegt heute in Fräsarbeiten an knöchernen Strukturen. Da Roboter über eine extreme Präzision verfügen und nicht ermüden bietet sich ihr Einsatz ins-besondere bei langwierigen und zugleich hochpräzisen Fräsvorgängen im Bereich der lateralen Schädelbasis an. Aus diesem Grunde wurde ein Verfahren entwickelt, welches aus einer geometrischen Beschreibung des Implantates eine geeignete Fräsbahn errechnet und eine kraftgeregelte Prozesskontrolle des Fräsvorganges implementiert. Mit einem 6*achsigen Knickarmroboter erfolgten die Untersuchungen primär an Tierpräparaten und zur Optimierung an Felsenbeinpräparaten.Dominik Henrich; P. K. Plinkert; A. Federspil; B. Plinkertarticlehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1250Thu, 28 Mar 2002 00:00:00 +0100Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibrationhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1251
It is difficult for robots to handle a vibrating deformable object. Even for human beings it is a high-risk operation to, for example, insert a vibrating linear object into a small hole. However, fast manipulation using a robot arm is not just a dream; it may be achieved if some important features of the vibration are detected online. In this paper, we present an approach for fast manipulation using a force/torque sensor mounted on the robot's wrist. Template matching method is employed to recognize the vibrational phase of the deformable objects. Therefore, a fast manipulation can be performed with a high success rate, even if there is acute vibration. Experiments inserting a deformable object into a hole are conducted to test the presented method. Results demonstrate that the presented sensor-based online fast manipulation is feasible.Shigang Yue; Dominik Henricharticlehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1251Thu, 28 Mar 2002 00:00:00 +0100Handhabung deformierbarer linearer Objekte: Programmierung mit verschiedenen Manipulation-Skillshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1249
Diese Arbeit beschreibt verschiedene Bewegungsprimitive zur Lösung einiger häufig auftre-tender Probleme bei der Handhabung von deformierbaren linearen Objekten. Anhand der beispielhaften Montage einer Feder wird die Nützlichkeit der verschiedenen Manipulation-Skills im einzelnen, aber auch deren Kombination dargestellt.Antoine Schlechter; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1249Wed, 27 Mar 2002 00:00:00 +0100Point-to-Point Trajectory Planning of Flexible Redundant Robot Manipulators Using Genetic Algorithmshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1247
The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point motion is presented for FRM based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomial are used to describe the segments that connect the initial, intermediate, and final points in joint space. The trajectory planning of FRM is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. Case studies show that the method is applicable.Shigang Yue; Dominik Henrich; W. L. Xu; S. K. Tsopreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1247Mon, 03 Sep 2001 00:00:00 +0200Safe Human-Robot-Cooperation:Problem Analysis,System Concept and Fast Sensor Fusionhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1246
We present a system concept allowing humans to work safely in the same environment as a robot manipulator. Several cameras survey the common workspace. A look-up-table-based fusion algorithm is used to back-project directly from the image spaces of the cameras to the manipulator?s con-figuration space. In the look-up-tables both, the camera calibration and the robot geometry are implicitly encoded. For experiments, a conven-tional 6 axis industrial manipulator is used. The work space is surveyed by four grayscale cameras. Due to the limits of present robot controllers, the computationally expensive parts of the system are executed on a server PC that communicates with the robot controller via Ethernet.Dirk Ebert; Dominik Henricharticlehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1246Thu, 21 Jun 2001 00:00:00 +0200Point-to-Point and Multi-Goal Path Planning for Industrial Robotshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1240
This article presents contributions in the field of path planning for industrial robots with 6 degrees of freedom. This work presents the results of our research in the last 4 years at the Institute for Process Control and Robotics at the University of Karlsruhe. The path planning approach we present works in an implicit and discretized C-space. Collisions are detected in the Cartesian workspace by a hierarchical distance computation. The method is based on the A* search algorithm and needs no essential off-line computation. A new optimal discretization method leads to smaller search spaces, thus speeding up the planning. For a further acceleration, the search was parallelized. With a static load distribution good speedups can be achieved. By extending the algorithm to a bidirectional search, the planner is able to automatically select the easier search direction. The new dynamic switching of start and goal leads finally to the multi-goal path planning, which is able to compute a collision-free path between a set of goal poses (e.g., spot welding points) while minimizing the total path length.Christian Wurll; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1240Tue, 12 Jun 2001 00:00:00 +0200Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration Eliminationhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1241
The vibration induced in a deformable object upon automatic handling by robot manipulators can often be bothersome. This paper presents a force/torque sensor-based method for handling deformable linear objects (DLOs) in a manner suitable to eliminate acute vibration. An adjustment-motion that can be attached to the end of an arbitrary end-effector's trajectory is employed to eliminate vibration of deformable objects. Differently from model-based methods, the presented sensor-based method does not employ any information from previous motions. The adjustment-motion is generated automatically by analyzing data from a force/torque sensor mounted on the robot wrist. Template matching technique is used to find out the matching point between the vibrational signal of the DLO and a template. Experiments are conducted to test the new method under various conditions. Results demonstrate the effectiveness of the sensor-based adjustment-motion.Shigang Yue; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1241Tue, 12 Jun 2001 00:00:00 +0200Manipulating Deformable Linear Objects: Robot Motions in Single and Multiple Contact Pointshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1242
The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. Especially, approaches to calculate motions with specific behavior in point contacts between the object and environment are regarded. For single point contacts, motions based on generalized rotations solving the direct and inverse manipulation problem are investigated. The latter problem is additionally tackled by simple rotation and translation motions. For double and multiple point contacts, motions based on Splines are suggested. In experimental results with steel springs, the predicted and measured effect for each approach are compared.Thorsten W. Schmidt; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1242Tue, 12 Jun 2001 00:00:00 +0200Manipulating Deformable Linear Objects: Attachable Adjustment-Motions for Vibration Reductionhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1243
This paper addresses the problem of handling deformable linear objects (DLOs) in a suitable way to avoid acute vibration. Different types of adjustment-motions that eliminate vibration of deformable objects and can be attached to the end of an arbitrary end-effector trajectory are presented. For describing the dynamics of deformable linear objects, the finite element method is used to derive the dynamic differential equations. Genetic algorithm is used to find the optimal adjustment motion for each simulation example. Experiments are conducted to verify the presented manipulating method.Shigang Yue; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1243Tue, 12 Jun 2001 00:00:00 +0200Manipulating Deformable Linear Objects: Model-Based Adjustment-Motion for Vibration Reductionhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1244
This paper addresses the problem of handling deformable linear objects (DLOs) in a suitable way to avoid acute vibration. An adjustment-motion that eliminates vibration of DLOs and can be attached to the end of any arbitrary end-effector's trajectory is presented, based on the concept of open-loop control. The presented adjustment-motion is a kind of agile end-effector motion with limited scope. To describe the dynamics of deformable linear objects, the finite element method is used to derive the dynamic differential equations. Genetic algorithm is used to find the optimal adjustment-motion for each simulation example. In contrast to previous approaches, the presented method can be treated as one of the manipulation skills and can be applied to different cases without major changes to the method.Shigang Yue; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1244Tue, 12 Jun 2001 00:00:00 +0200Trajectory Planning in joint space for flexible robots with kinematics redundancyhttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1245
The paper focuses on the problem of trajectory planning of flexible redundant robot manipulators (FRM) in joint space. Compared to irredundant flexible manipulators, FRMs present additional possibilities in trajectory planning due to their kinematics redundancy. A trajectory planning method to minimize vibration of FRMs is presented based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as a planning variable. Quadrinomial and quintic polynomials are used to describe the segments which connect the initial, intermediate, and final points in joint space. The trajectory planning of FRMs is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. A case study shows that the method is applicable.Shigang Yue; Dominik Henrich; W. L. Xu; S. K. Tsopreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1245Tue, 12 Jun 2001 00:00:00 +0200Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitionshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1239
This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires or leaf springs. It investigates the a priori knowledge about the 6-dimensional force/torque signal for a changing contact situation between a DLO and a rigid polyhedral obstacle. The result is a complete list, containing for each contact change the most significant combination of force/torque signal components together with a description of the expected signal curve. This knowledge enables the reliable detection of changes in the DLO contact situation and with it the implementation of sensor-based manipulation skills for all possible contact changes.Antoine Schlechter; Dominik Henricharticlehttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1239Fri, 08 Jun 2001 00:00:00 +0200Direct and Inverse Simulation of Deformable Linear Objectshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1043
In this chapter, the quantitative numerical simulation of the behavior of deformable linear objects, such as hoses, wires and leaf springs is studied. We first give a short review of the physical approach and the basic solution principle. Then, we give a more detailed description of some key aspects: We introduce a novel approach concerning dynamics based on an algorithm very similar to the one used for (quasi-) static computation. Then, we look at the plastic workpiece deformation, involving a modified computation algorithm and a special representation of the workpiece shape. Then, we give alternative solutions for two key aspects of the algorithm, and investigate the problem of performing the workpiece simulation efficiently, i.e., with desired precision in a short time. In the end, we introduce the inverse modeling problem which must be solved when the gripper trajectory for a given task shall be generated.Axel Remde; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1043Wed, 09 Aug 2000 00:00:00 +0200Force- and Vision-based Detection of Contact State Transitionshttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1042
A new and systematic basic approach to force- and vision-based robot manipulation of deformable (non-rigid) linear objects is introduced. This approach reduces the computational needs by using a simple state-oriented model of the objects. These states describe the relation between the deformable and rigid obstacles, and are derived from the object image and its features. We give an enumeration of possible contact states and discuss the main characteristics of each state. We investigate the performance of robust transitions between the contact states and derive criteria and conditions for each of the states and for two sensor systems, i.e. a vision sensor and a force/torque sensor. This results in a new and task-independent approach in regarding the handling of deformable objects and in a sensor-based implementation of manipulation primitives for industrial robots. Thus, the usage of sensor processing is an appropriate solution for our problem. Finally, we apply the concept of contact states and state transitions to the description of a typical assembly task. Experimental results show the feasibility of our approach: A robot performs several contact state transitions which can be combined for solving a more complex task.Frank Abegg; Axel Remde; Dominik Henrichpreprinthttps://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1042Tue, 08 Aug 2000 00:00:00 +0200